Vision-based double-robot relative pose online calibration method

A relative pose and dual-robot technology, applied to instruments, measuring devices, and optical devices, can solve the problems of complicated preparation work, high manual participation, and slow calibration speed, and achieve high automation, strong applicability, and fast effect

Inactive Publication Date: 2018-09-11
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

In comparison, the principle of the contact method is simple, but the manual participation is high and the efficiency is low; the preparation work bef...

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  • Vision-based double-robot relative pose online calibration method
  • Vision-based double-robot relative pose online calibration method
  • Vision-based double-robot relative pose online calibration method

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Embodiment Construction

[0040] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0041] Such as figure 1 As shown, the embodiment of the present invention provides a vision-based online calibration method for the relative pose of dual robots. The calibration method uses a camera C (with known internal parameters) and a target M (with known design parameters, on which there are at least three Marking points that are not collinear and have known relative positions) construct ...

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Abstract

The invention belongs to the field of multi-robot relative pose calibration, and specifically discloses a vision-based double-robot relative pose online calibration method. The method includes the following steps: 1, determining a pose relation ATC between a base coordinate system {A} of a robot A and a camera coordinate system {C} and a pose relation BTM between a base coordinate system {B} of arobot B and a target coordinate system {M} offline; and 2, obtaining a pose relation CTM between the camera coordinate system and the target coordinate system online through a vision measurement technology, and building a calibration equation according to the ATC, BTM and CTM in a coordinate system closed-loop mode to calculate a double-robot relative pose relation ATB, so as to complete calibration of a double-robot base coordinate system. The vision-based double-robot relative pose online calibration method provided by the invention can perform high-precision online calibration for multipletimes only by offline measurement once, and is suitable for occasions on which a relative pose of multiple robots changes frequently and a requirement for collaborative operation precision is relatively high, and relative pose calibration needs to be performed frequently and rapidly.

Description

technical field [0001] The invention belongs to the field of relative pose calibration of robots, and more particularly relates to a vision-based online calibration method for relative poses of dual robots. Background technique [0002] With the development of robot technology and the increasing complexity of the working environment and tasks, more and more occasions need to adopt the multi-robot collaborative operation mode represented by dual robots, such as: hole-making and assembly of thin-walled parts such as aircraft skins With milling, dual-robot grinding and polishing for large wind turbine blades, and traditional dual-robot coordination of welding, spraying, handling, etc. [0003] Since the manufacturing industry usually has strict requirements on precision, each robot must accurately know the relative pose relationship between each other's base coordinate systems when a dual / multi-robot system is used for collaborative work. However, in the existing dual / multi-ro...

Claims

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 陶波范奇尹周平杨一帆丘椿荣周佩
Owner HUAZHONG UNIV OF SCI & TECH
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